JP2017207477A - Precise hand-held scanner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a precise hand-held scanner which can reduce or remove disadvantages and problems relating to measurement of a surface profile.SOLUTION: A device 100 includes: a lens 140 with an etching pattern; and a light emitting diode (LED) projector 130 for projecting, to a surface, the pattern of light which follows the etching pattern of a lens by making light pass through the lens. The device further includes: a first camera 110 for acquiring first data associated with the pattern of a projected light; and a second camera 120 for acquiring second data associated with the pattern of a projected light, the first data acquired by the first camera and the second data acquired by the second camera being used for measuring the profile of a surface.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates generally to scanning, and more particularly to precision handheld scanners that measure surface profiles.

  Aircraft and other vehicles and product surfaces may be scanned during manufacturing. For example, aircraft surfaces can be scanned for surface profile measurements or geometric data acquisition. However, typical solutions for scanning surfaces such as aircraft surfaces are not suitable for handheld operation.

  According to the present disclosure, disadvantages and problems associated with measuring surface profiles can be reduced or eliminated.

  In one embodiment, the apparatus includes a lens, a light emitting diode (“LED”) projector, a first camera, a second camera, and one or more processors. The lens has an etching pattern, and the LED projector is configured to project a light pattern on the surface according to the etching pattern of the lens by transmitting light to the lens, and the projected light pattern is a dot pattern Including. The first camera of this embodiment is configured to acquire first data including first pixel data associated with each dot of the projected light pattern. Further, the second camera is configured to acquire second data including second pixel data associated with each dot of the projected light pattern. The one or more processors are configured to specify the position of each dot of the dot pattern using the first pixel data and the second pixel data. The one or more processors are further configured to measure a surface profile based on relative dot positions in a three-dimensional “3D” space.

  In some embodiments, the method includes projecting a pattern of light on a surface according to an etching pattern on the lens by transmitting light through the lens with an LED projector. The method includes obtaining first data associated with a projected light pattern with a first camera and obtaining second data associated with a projected light pattern with a second camera. Further included. Further, the method measures a surface profile by using one or more processors using first data acquired by a first camera and second data acquired by a second camera. Includes steps.

  Technical advantages of the present disclosure include providing a handheld scanner that can be used in limited access areas. In some embodiments, the handheld scanner is configured to collect accurate data even when the scanner or the subject being scanned is moving. In some embodiments, the handheld scanner also provides high resolution scanning capabilities in the range of less than 1/1000.

  As another advantage, some embodiments of the present disclosure can be used in a variety of applications where features and surfaces must be measured and analyzed to determine compatibility with engineering requirements. For example, some embodiments can be used for corrosion analysis, structural repair verification, and inter-panel gap / mismatch analysis. Some embodiments of handheld scanners can be used, such as in stealth aircraft applications, to measure a coating to ensure it is applied to meet a particular height or thickness requirement. For example, some embodiments can be used to accurately measure the area where fasteners are buried and / or unfilled relative to the surrounding aircraft surface profile. Scan data acquired from handheld devices can be used with advanced data analysis software to quickly scan fasteners and analyze buried and / or unfilled data profiles for specific installation tolerances. The conformity to can be confirmed.

  Another technical advantage relates to the use of handheld scanners in the medical field. In some embodiments, a handheld scanner can be used to scan external body parts and / or exposed internal body parts. This scanning capability can be combined with 3D printing techniques to form replacement bone sections, analyze tissues and / or organs, and create 3D models of prostheses.

  For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following description, taken in conjunction with the accompanying drawings, in which:

1 is an external view of a handheld scanner according to some embodiments. FIG. FIG. 2 illustrates a surface profile measurement system including the handheld scanner of FIG. 1 according to some embodiments. FIG. 6 illustrates a method for measuring a surface profile, according to some embodiments. FIG. 2 illustrates a computer system used to measure a surface profile according to some embodiments.

  In order that this disclosure may be better understood, several example embodiments are set forth below. The following examples should not be construed as limiting or defining the scope of the disclosure. Embodiments of the present disclosure and their advantages are best understood by referring to FIGS. 1-4, where the same numerals are used to indicate the same and corresponding parts.

  Consumer red-green-blue-depth ("RGB-D") based scanners are designed for visualization rather than manufacturing measurement accuracy. Usually, the surface model generated from the RGB-D scanner has a very low resolution as compared to the measurement scanner for manufacturing. Data obtained from these types of scanners can be used to resolve dimensions within the measured field, but this data can be 0.001 inches (0.00254 cm) or less. It is not resolved to the accuracy required for manufacturing this type.

  Furthermore, a scanner for measuring stereoscopic illumination is limited by the exposure time of the camera. When the opening of the camera aperture is large, the collected light increases and the exposure time is shortened, so that the scanner movement error is less likely to occur, but the depth of field measurement is also limited. A small aperture opening reduces the collected light and increases exposure time, which tends to cause scanner motion errors, but increases depth of field measurements.

  An example of the relationship with aperture opening described above is a picture of a standard film speed that focuses on the overall image features. The smaller the aperture opening / slower, the more likely image blur occurs when the camera or subject moves during photo shooting. In the three-dimensional illumination measurement system, the data becomes unusable due to this blur. Therefore, the system must be extremely stable (ie, not moving) when collecting data. On the other hand, if a high-speed film is used in combination with an aperture having a large opening and a high speed, a moving image can be clearly obtained. However, the depth of field becomes shallow, and the focus is only on the subject. This shallow depth of field limits the ability to accurately measure high profile surfaces.

  Some stereoscopic illumination scanners use the principle of Fourier fringe patterns. This method projects a structured pattern (eg, bar or stripe) onto the object to be measured and uses one or more cameras that are accurately calibrated to the planar pattern, and one or more projectors. The distance to each pixel in the camera field of view can be triangulated based on the calibration relationship with the other camera. This phase shift pattern for acquiring a plurality of camera images requires additional time for scanning, and requires high stability for the scanner and the subject to be measured. The projector is also typically a digital light processing (“DLP”) projector or similar large projector and is not configured for handheld operation.

  These stereoscopic illumination scanning systems are also configured to accept multiple lenses to change the field of view for different applications. To achieve this capability, the scanner housing must accommodate a wide range of camera placement relative to the projector, and the scanner head is sized to be unusable within a limited access area. Also, due to the increased size and weight of the scanner housing, the scanning system may require operation with a support stand, counter balancer or both hands. Furthermore, in applications with limited field of view, excessive data is collected by this phase shifting method, which increases processing time and data storage requirements. For example, a stereoscopic lighting scanning system that utilizes a 4 megapixel camera to collect and analyze data from each camera pixel (ie, 4 million points) is 4 inches by 4 inches (10.16 cm by 10.16 cm). ) Is considered excessive.

  In order to reduce or eliminate these and other problems, some embodiments of the present disclosure provide a handheld scanning device having a shallow depth of field so that the subject being measured can be accessed at a limited close range. including. In addition, a large / high-speed aperture can be used to reduce or eliminate measurement errors due to scanner or subject movement during data acquisition. Some embodiments allow a significant reduction in the physical size of the scanning system by projecting a pattern onto the object under measurement using an etching lens with an LED projector to achieve handheld capabilities And enables operability in a limited space such as the internal structure of an aircraft.

  As another advantage, collecting the centroid data with each projection pattern of 100,000 dots or less significantly reduces the amount of data collected compared to the data collection at each camera pixel. Further, data collected from 100,000 projection points within a maximum field of view of 4 inches × 4 inches (10.16 cm × 10.16 cm) can be obtained by, for example, 0.001 inch (0.00254 cm) of the subject being measured. It is enough to clarify to the following accuracy. The LED projector can be used in a plurality of ways. As an example, when measuring a highly reflective subject, it is possible to continuously irradiate an LED projector and pulse the camera lens to obtain data on the subject surface. As another example, when measuring a low reflectivity object, such as a dark surface typical of composites or coatings, the LED projector can be fired in sync with the camera lens. As a result, the light of the pulse (eg, strobe) becomes brighter than in the continuous mode, and the subject for data acquisition is better illuminated.

  As an additional advantage of continuously projecting a pattern of light onto a surface, some embodiments automatically detect the distance to the surface by analyzing the structured pattern during scanner placement, and the distance to the surface is optimal. When this happens, the camera shutter can be triggered. As an example, after the scanner device is turned on via the trigger mechanism, the scanning device can be moved toward the subject to be measured. When the optimum distance is reached, the camera shutter automatically triggers and data in the scene can be acquired. For example, the camera shutter can be automatically triggered upon detection of a predetermined number of dots in the field of view.

  Other technical advantages will be readily apparent to one skilled in the art from the following figures, descriptions, and claims. Furthermore, although specific advantages have been enumerated above, various embodiments may include all, some, or none of the enumerated advantages. 1-4 show further details regarding the precision handheld scanner.

  FIG. 1 illustrates a handheld scanner 100 according to some embodiments. As shown in the embodiment of FIG. 1, the handheld scanner 100 includes a first camera 110, a second camera 120, an LED projector 130, an etching lens 140, a connector 150, a housing 160, a handle 170, and a mounting base 180. . In some embodiments, the handheld scanner 100 is a motion independent handheld high resolution scanner.

  The first camera 110 is any camera configured to acquire data. In some embodiments, the first camera 110 is a 5 megapixel (“MP”) point gray camera. In other embodiments, the first camera 110 can have a resolution higher or lower than 5MP. As an example, the first camera 110 may be a 12MP camera. As another example, the first camera 110 may be a 3.2 MP camera. In some embodiments, the first camera 110 includes an aperture configured to reduce or eliminate measurement errors due to movement of the handheld scanner 100 and / or subject movement during data acquisition.

  Similarly, the second camera 120 is also an arbitrary camera configured to acquire data. In some embodiments, the second camera 120 is a 5MP point gray camera. In other embodiments, the second camera 120 can have a resolution higher or lower than 5MP. As an example, the second camera 120 may be a 12MP camera. As another example, the second camera 120 may be a 3.2 MP camera. In some embodiments, the second camera 120 includes an aperture configured to reduce or eliminate measurement errors due to movement of the handheld scanner 100 and / or subject movement during data acquisition. In some embodiments, the first camera 110 and the second camera 120 are the same camera.

  As shown in the exemplary embodiment of FIG. 1, LED projector 130 is any projector configured to project a light pattern onto a surface. For example, the LED projector 130 can project light continuously during the scanning process. As another example, an LED projector is configured to emit LED strobe light in synchronization with one or more features of the handheld scanner 100 (eg, the first camera 110 and / or the second camera 120). It can be. In some embodiments, the LED projector 130 is a Smart Vision Lights SP30 series LED projector configured to operate in continuous mode or strobe mode.

  As shown in the embodiment of FIG. 1, the etching lens 140 is any lens that includes an etching pattern. In some embodiments, the etching lens 140 is configured to form a structured pattern on the surface being measured. In some embodiments, the structured pattern can include a grid of dots. For example, the structured pattern of the etching lens 140 can include a grid of 100,000 dots or less. As another example, the structured pattern of the etching lens 140 can include a grid of 51 × 51 dots. In some embodiments, the etching lens 140 is physically attached to the LED projector 130.

  As shown in FIG. 1, connector 150 is any connector that couples handheld scanner 100 to a source (eg, a power source and / or computer system). In some embodiments, connector 150 is a coaxial cable connector that electrically couples handheld scanner 100 to a computer system, such as computer system 210 described below. Further, the connector 150 can be configured to connect the handheld scanner 100 to a power source such as an outlet. In some embodiments, the handheld scanner 100 can include a plurality of connectors 150 (eg, a power connector and a computer system connector). In some embodiments, the handheld scanner 100 can utilize an integrated battery as a power source. In some examples, the handheld scanner 100 may include wireless data transfer technology that enables communication between the handheld scanner and the computer system 210 via a BLUETOOTH® or Wi-Fi network. For example, the wireless data transfer technology of the handheld scanner 100 can facilitate data transfer between the handheld scanner 100 and the computer system 210.

  In the exemplary embodiment of FIG. 1, the housing 160 is any housing configured to at least partially surround the first camera 110, the second camera 120, and the LED projector 130. The housing 160 can be constructed of any material suitable for enclosing the first camera 110, the second camera 120, and the LED projector 130. As an example, the housing 160 can be made of plastic. In some embodiments, the housing 160 includes one or more openings. As an example, the housing 160 may include openings for the camera 110, the camera 120, and the LED projector 130. As another example, the housing 160 may include one or more vents that allow air to pass through the scanner to reduce heat.

  As shown in the exemplary embodiment of FIG. 1, handle 170 is any handle that assists the user in holding handheld scanner 100. As an example, the handle 170 may be a pistol grip handle made of plastic, rubber and metal. In some embodiments, the handle 170 is attached to one or more components of the handheld scanner 100. For example, as shown in the exemplary embodiment of FIG. 1, the handle 170 is attached to the underside of the mounting base 180 of the handheld scanner 100, and includes a first camera 110, a second camera 120, an LED projector 130, and a housing. 160 is attached to the upper side of the attachment base 180. In some embodiments, the mounting base 180 and handle 170 of the handheld scanner 100 are manufactured as a single component. Alternatively, the mounting base 180 and handle 170 of the handheld scanner 100 can be manufactured as two separate components, and the handle 170 can be physically connected to the mounting base 180.

  As shown in the exemplary embodiment of FIG. 1, the mounting base 180 is any base that allows the mounting of the components of the handheld scanner 100. As an example, the mounting base 180 can be a mounting rail. In some embodiments, the mounting base 180 is comprised of a thermally stable material such as a graphite composite. The thermally stable mounting base is a stable and constant physics between the first camera 110, the second camera 120, the LED projector 130, and the etching lens 140 during changes in surrounding elements. Maintain a good relationship. For example, the thermally stable mounting base may provide a space between the first camera 110 and the second camera 120 during temperature changes caused by environmental conditions and / or heating of components within the handheld scanner 100. Maintain the relationship.

  In some embodiments, the mounting base 180 is attached to one or more components of the handheld scanner 100. For example, as shown in the exemplary embodiment of FIG. 1, the handle 170 is attached to the underside of the mounting base 180 of the handheld scanner 100, and includes a first camera 110, a second camera 120, an LED projector 130, and a housing. 160 is attached to the upper side of the attachment base 180. In some embodiments, the mounting base 180 and handle 170 of the handheld scanner 100 are manufactured as a single component. Alternatively, the mounting base 180 and handle 170 of the handheld scanner 100 can be manufactured as two separate components, and the handle 170 can be physically connected to the mounting base 180.

  FIG. 2 illustrates a surface profile measurement system 200 according to some embodiments. In the exemplary embodiment of FIG. 2, system 200 includes handheld scanner 100 and computer system 210 of FIG. The computer system 210 can include one or more processors 212, one or more storage devices 214, and / or one or more interfaces 216. The computer system 210 can be external to the handheld scanner 100. Alternatively, the handheld scanner can include the computer system 210, or one or more components thereof. Further, individual components of handheld scanner 100 (eg, LED projector 130, first camera 110, and second camera 120) may each include one or more computer systems 210. Some embodiments of the computer system 210 are described in further detail below in FIG.

  As shown in the embodiment of FIG. 2, the LED projector 130 is configured to project a pattern of light onto the surface 220. In some embodiments, the LED projector 130 is configured to project a pattern of light that follows the etching pattern of the lens 140 by transmitting light through the lens 140. The projected light pattern can include a dot pattern of 100,000 dots or less within a maximum field of view (eg, field of view 220) of 4 inches × 4 inches (10.16 cm × 10.16 cm). As another example, the projected light pattern may include 51 × 51 shadow mask grid points within a 3 ″ × 3 ″ (7.62 cm × 7.62 cm) field of view.

  In some embodiments, the system 200 of FIG. 2 is expandable. For example, the projected light pattern may include 51 × 51 shadow mask grid points within a 1 meter × 1 meter field of view. As another example, the projected light pattern may include 51 × 51 shadow mask grid dots in a 2 ″ × 2 ″ field. In some embodiments, the accuracy of the profile being measured depends on the dot pattern relative to the field of view. For example, a 51 × 51 dot pattern projected onto a 3 inch × 3 inch field of view will have a higher accuracy than a 51 × 51 dot pattern projected onto a 1 meter × 1 meter field of view.

  The system 200 further includes a first camera 110 configured to acquire the first data. In some embodiments, the first data includes first pixel data associated with each dot of the projected light dot pattern. For example, the first data may include 50 pixels associated with each dot of the projected light dot pattern, and at least 6 of the 50 pixels may be located across the dot diameter. Similarly, the system 200 includes a second camera 120 that is configured to acquire second data. In some embodiments, the second data includes second pixel data associated with each dot of the projected light dot pattern. As an example, the second data may include 50 pixels associated with each dot of the projected light dot pattern, and at least 6 of the 50 pixels may be located across the diameter of the dot. . As shown in the exemplary embodiment of FIG. 2, the first camera 110 and the second camera 120 are mapped to the same field of view 220.

  In some embodiments, the processor 212 of the system 200 analyzes the first data acquired by the first camera 110. For example, the processor 212 can analyze the pixel data acquired by the first camera 110 to determine the center of gravity of each dot of the projected light dot pattern. Similarly, in some embodiments, the processor 212 of the system 200 analyzes the second data acquired by the second camera 120. For example, the processor 212 can analyze the pixel data acquired by the second camera 110 to determine the center of gravity of each dot of the projected light dot pattern. In some embodiments, the processor 212 determines the dot centroid in real time.

  In some embodiments, the processor 212 analyzes the peripheral fringe pattern of each dot projected on the surface 220 to determine the dot centroid. For example, the processor 212 can determine the boundary of a specific dot using the peripheral fringe pattern and calculate the center of gravity of the specific dot. In some embodiments, the processor 212 can accurately and consistently determine the centroid of a particular dot using pixel data that includes six or more pixels across the diameter of the dot. In some examples, the processor 212 is configured to calculate the centroid of a particular pixel including subpixels. As another example, the processor 212 can be configured to calculate the centroid of a particular subpixel.

  In the system 200 of FIG. 2, the processor 212 of the computer system 210 calibrates the planar dot pattern to establish the origin of each camera and a fixed relationship between the first camera 110 and the second camera 120. It is configured as follows. In some embodiments, the processor 212 measures the profile of the surface 220 using the first data acquired by the first camera 110 and the second data acquired by the second camera 120. Further configured as: For example, the processor 212 aligns the centroid of the first data acquired by the first camera 110 with the centroid of the second data acquired by the second camera 120, and the first camera 110 and the second data A point set can be formed in 3D space by triangulating the distance to each center of gravity based on a known constant relationship with the other camera 120. Each point represents a dot position.

  In some embodiments, point sets (eg, dot locations) in 3D space are linked together. The processor 212 can be further configured to measure the profile of the surface 220 based on relative dot positions. In some embodiments, the processor 212 identifies relative dot positions in real time. Alternatively, the processor 212 can collect centroid data associated with each dot of the projection pattern in real time and postpone the relative dot position identification to a subsequent point in time.

  In some embodiments, the processor 212 can be configured to form a polygonal model of the surface 220 based on relative dot positions. For example, the processor can form a mesh by connecting 3D dot positions identified using a series of polygons. In some embodiments, the profile of the surface 220 can be measured based on this formed model. System 200 measures the surface profile of system 200 to an accuracy of 0.001 inches (0.00254 cm) or less. For example, the accuracy of the measurement profile of the system 200 using data related to a 51 × 51 dot pattern in a 3 ″ × 3 ″ field of view can be within 0.0003 ″ (0.000762 cm).

  In some embodiments, the LED projector 130 is configured to operate in a continuous mode. For example, the LED projector 130 is pulsed such that the first camera 110 acquires first data associated with a pattern of light that is continuously projected, and the second camera 120 is It can be configured to continuously project a pattern of light onto the surface 220 while being pulsed to acquire second data associated with the pattern. The LED projector 130 can be configured to operate in a continuous mode when measuring highly reflective objects.

  In some embodiments, LED projector 130 is configured to operate in a pulsed (eg, strobe) mode. As an example, the LED projector 130 may include a first camera 110 pulse pulsed to obtain first data associated with a projected light pattern, and a second associated with a projected light pattern. The light pattern can be projected onto the surface 220 by pulsing the light in synchronization with the pulses of the second camera 120 pulsed to acquire the data. The LED projector 130 can be configured in a pulsed mode when the system 200 measures a low reflectivity object, such as a dark surface typical of composites or coatings. The light pulse makes the light brighter than when the LED projector is in continuous mode, and the subject for data acquisition is better illuminated.

  In some embodiments, the processor 212 is configured to automatically detect a desired field of view, and the first camera 110 and / or the second camera 120 are responsive to automatic detection of the desired field of view. Configured to retrieve data. As an example, the processor of the first camera 110 detects a desired 3 inch by 3 inch field of view (eg, field of view 220) and automatically triggers the shutter of the first camera 110 in response to this detection. Thus, the first data can be acquired.

  In the operation of the example embodiment of FIGS. 1 and 2, the LED projector 130 of the handheld scanner 100 transmits light through the lens 140, thereby allowing an aircraft such as a fastener head embedded with a low observable filler material. A light dot pattern according to the etching pattern of the lens 140 is projected onto the surface. Thereafter, the first camera 110 acquires first data including first pixel data associated with each dot of the pattern projected onto the buried fastener head. Similarly, the second camera acquires second data including second pixel data related to each dot of the projection pattern. The pixel data of the first camera 110 and the second camera 120 are analyzed with respect to the peripheral fringe pattern of each dot projected on the surface 220 to determine the center of gravity of each dot, and the dot center of gravity from the first camera 110 and The dot centroid from the second camera 120 is aligned. Based on a known constant relationship between the first camera 110 and the second camera 120, the distance to each dot centroid is triangulated, and a set of points linked to each other (eg, relative dot positions) is represented in 3D space. Form in. This linking point set results in a polygonal (mosaic) surface that is used to measure the surface profile of the buried fastener head.

  FIG. 3 illustrates a surface profile measurement method 300 according to some embodiments. The method 300 of FIG. In step 320, an LED projector (eg, LED projector 130) transmits light through the lens, thereby projecting a light pattern on the surface (eg, surface 220) according to the etching pattern of the lens (eg, etching lens 140). . Next, in step 330, a first camera (eg, the first camera 110) obtains first data related to the projected light pattern. In some embodiments, the projected light pattern includes a dot pattern, and the first data includes first pixel data associated with each dot of the projected dot pattern. In step 340, a second camera (eg, second camera 120) obtains second data related to the projected light pattern. In some embodiments, the second data can include second pixel data associated with each dot of the projected dot pattern.

  In some embodiments, the first camera and the second camera are mapped to the same field of view (eg, field of view 220). For example, a first camera can acquire data associated with a 51 × 51 projected dot pattern within a 3 ″ × 3 ″ field of view, and the second camera can also acquire the same 3 ″ × 3 ″ Data relating to a 51 × 51 dot pattern projected into the field of view can be acquired.

  As shown in FIG. 3, in step 350 of the method 300, the processor measures a surface profile using the first data acquired by the first camera and the second data acquired by the second camera. . As an example, the processor can determine the 3D position of each dot in the dot pattern and measure the surface profile based on the relative dot position. As another example, the processor can form a 3D polygonal surface model based on relative dot positions and measure a surface profile based on the polygonal model. In some embodiments, the measured surface profile has an accuracy of 0.001 inch (0.00254 cm) or less. Method 300 ends at step 360.

  Modifications, additions, or omissions may be made to the method shown in FIG. The method may include more steps, fewer steps, or other steps. For example, the LED projector can project a next light pattern on the next surface according to the etching pattern of the lens by transmitting light through the lens, and the first camera is associated with the third projection pattern associated with the next projection pattern. And the second camera can acquire the fourth data related to the next projection pattern.

  As another example, an LED projector may be pulsed such that a first camera acquires first data related to a pattern of continuously projected light, and a second camera is configured to capture continuously projected light. While being pulsed to acquire second data associated with the pattern, a pattern of light can be continuously projected onto the surface. As yet another example, the first camera is pulsed to obtain first data associated with a projected light pattern, and the second camera is associated with a second light associated with the projected light pattern. The LED projector is configured to project a light pattern onto the surface by pulsing the light in synchronization with the first camera pulse and the second camera pulse. You can also The steps of method 300 may be performed simultaneously or in any suitable order. Further, one or more steps of method 300 may be performed by any suitable component of system 200.

  FIG. 4 illustrates a computer system used to measure a surface profile, according to some embodiments. One or more computer systems 400 (eg, computer system 210) perform one or more steps of one or more methods described or illustrated herein. In certain embodiments, one or more computer systems 400 provide the functionality described or illustrated herein. In particular embodiments, software running on one or more computer systems 400 performs one or more steps of one or more methods described or illustrated herein, or Provides the functions described or illustrated in the document. Particular embodiments include one or more portions of one or more computer systems 400. References herein to a computer system can include computer devices, and vice versa, if necessary. Further, reference to a computer system may include one or more computer systems as appropriate.

  In this disclosure, any suitable number of computer systems 400 are contemplated. In this disclosure, a computer system 400 that takes any suitable physical form is contemplated. By way of example, and not limitation, computer system 400 may be an embedded computer system, a system on chip (SOC), a single board computer system (SBC) (eg, a computer on module (COM) or a system on module (SOM)). Desktop computer system, laptop or notebook computer system, interactive kiosk, mainframe, computer system mesh, mobile phone, personal digital assistant (PDA), server, tablet computer system, or two or three of these It can be set as the above combination. As required, the computer system 400 includes one or more computer systems 400 and is single or distributed, spans multiple locations, spans multiple facilities, spans multiple data centers, or 1 or 2 It can reside in a cloud that can include one or more cloud components in these networks. If desired, one or more computer systems 400 may perform one or more steps of one or more methods described or illustrated herein without substantial spatial or temporal limitations. Can be executed. By way of example, and not limitation, one or more computer systems 400 may perform one or more steps of one or more methods described or illustrated herein in real time or in batch mode. If desired, one or more computer systems 400 may perform one or more steps of one or more methods described or illustrated herein at different times or at different locations.

  In certain embodiments, computer system 400 may include processor 402 (eg, processor 212) memory 404 (eg, memory 214), storage 406, input / output (I / O) interface 408, communication interface 410 (eg, interface 216). ), And a bus 412. Although this disclosure has described and illustrated a particular computer system having a particular number of particular components in a particular configuration, any suitable number having any suitable number of any suitable components in any suitable configuration. Computer systems are considered.

  In some embodiments, processor 402 includes hardware that executes instructions, such as those making up a computer program. By way of example and not limitation, processor 402 may retrieve (or fetch) instructions from internal registers, internal cache, memory 404 or storage 406 to execute the instructions, decode and execute them, One or more results can be written to the internal cache, memory 404 or storage 406. In some embodiments, the processor 402 may include one or more internal caches for data, instructions or addresses. This disclosure contemplates processor 402 including any suitable number of any suitable internal caches as required. By way of example, and not limitation, the processor 402 can include one or more instruction caches, one or more data caches, and one or more translation index buffers (TLBs). The instructions in the instruction cache can be copies of instructions in the memory 404 or storage 406, and the instruction cache can speed up the retrieval of these instructions by the processor 402. Data in the data cache is the result of a previous access instruction executed by processor 402, subsequent instructions executed by processor 402, or a previous write instruction to memory 404 or storage 406, or other suitable data. A copy of the data in memory 404 or storage 406 for instructions executed in processor 402 to operate on the basis of The data cache can speed up read or write operations by the processor 402. The TLB can speed up the virtual address translation of the processor 402. In particular embodiments, processor 402 may include one or more internal registers for data, instructions or addresses. This disclosure contemplates processor 402 including any suitable number of any suitable internal registers as appropriate. If desired, processor 402 can include one or more arithmetic logic units (ALUs), can be a multi-core processor, or can include one or more processors 402. Although this disclosure describes and illustrates particular processors, any suitable processor is contemplated.

  In some embodiments, memory 404 includes main memory that stores instructions for processor 402 to execute or data for processor 402 to operate. By way of example, and not limitation, computer system 400 may obtain instructions into memory 404 from storage 406 or from another source (eg, another computer system 400). The processor 402 can then obtain these instructions from the memory 404 into an internal register or internal cache. The processor 402 can retrieve and decode instructions from internal registers or internal caches to execute the instructions. The processor 402 may write one or more results (which may be intermediate or final results) during or after execution of the instruction to an internal register or internal cache. The processor 402 can then write one or more of these results to the memory 404. In some embodiments, the processor 402 executes only instructions in one or more internal registers, internal cache or memory 404 (rather than storage 406 or elsewhere) and (in storage 406 or elsewhere). (Not) operate on data in one or more internal registers, internal cache or memory 404 only. One or more memory buses (each of which can include an address bus and a data bus) can couple the processor 402 to the memory 404. As described below, the bus 412 may include one or more memory buses. In certain embodiments, one or more memory management units (MMUs) exist between processor 402 and memory 404 to facilitate access to memory 404 requested by processor 402. In particular embodiments, memory 404 includes random access memory (RAM). This RAM can be a volatile memory as required. This RAM can be a dynamic RAM (DRAM) or a static RAM (SRAM) as required. Further, this RAM may be a single port or multi-port RAM as required. Any suitable RAM is contemplated in this disclosure. The memory 404 can include one or more memory units 404 as needed. Although this disclosure describes and illustrates a particular memory, any suitable memory is contemplated.

  In particular embodiments, storage 406 includes mass storage for data or instructions. By way of example and not limitation, the storage 406 may be a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or universal serial bus (USB) drive, or two or three of these. More than one combination can be included. Storage 406 may include removable or non-removable (or fixed) media as required. The storage 406 can reside inside or outside the computer system 400 as needed. In certain embodiments, the storage 406 is a non-volatile solid state memory. In particular embodiments, storage 406 includes read only memory (ROM). This ROM may be a mask program ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically erasable rewrite ROM (EAROM), or a flash memory, as required. It can be a combination of two or more of these. This disclosure contemplates mass storage devices 406 taking any suitable physical form. As desired, storage 406 may include one or more storage control units that facilitate communication between processor 402 and storage 406. The storage 406 can include one or more storages 406 as desired. Although this disclosure has described and illustrated specific storage, any suitable storage is contemplated.

  In some embodiments, the I / O interface 408 includes hardware, software, or both, and one or more communication interfaces between the computer system 400 and one or more I / O devices. I will provide a. The computer system 400 can include one or more of these I / O devices as desired. One or more of these I / O devices may allow communication between a human and the computer system 400. By way of example and not limitation, an I / O device may be a keyboard, keypad, microphone, monitor, mouse, printer, scanner, speaker, still camera, stylus, tablet, touch screen, trackball, video camera, another suitable I / O devices, or a combination of two or more of these. An I / O device can include one or more sensors. In this disclosure, any suitable I / O devices and any suitable I / O interfaces 408 for these I / O devices are contemplated. If desired, I / O interface 408 may include one or more devices or software drivers that allow processor 402 to drive one or more of these I / O devices. . The I / O interface 408 can include one or more I / O interfaces 408 as desired. Although this disclosure has described and illustrated specific I / O interfaces, any suitable I / O interface is contemplated.

  In some embodiments, the communication interface 410 communicates between the computer system 400 and one or more other computer systems 400 or one or more networks (eg, packet-based communication). Hardware, software, or both, that provide one or more interfaces for. By way of example and not limitation, the communication interface 410 is for communicating with a wireless network such as a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wired network, or a Wi-Fi network. A wireless NIC (WNIC) or wireless adapter may be included. In this disclosure, any suitable network and any suitable communication interface 410 for such a network are contemplated. By way of example, and not limitation, computer system 400 is one or more parts of an ad hoc network, a personal area network (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), or the Internet. , Or a combination of two or more of these. One or more portions of one or more of these networks can be wired or wireless. As an example, the computer system 400 may include a wireless PAN (WPAN) (eg, BLUETOOTH WPAN), a Wi-Fi network, a WI-MAX network, (eg, Global System for Mobile Communications (GSM)) network, etc. ) It can communicate with a cellular network, or other suitable wireless network, or a combination of two or more of these. If desired, computer system 400 can include any suitable communication interface 410 for any of these networks. The communication interface 410 can include one or more communication interfaces 410 as needed. Although this disclosure has described and illustrated specific communication interfaces, any suitable communication interface is contemplated.

  In some embodiments, the bus 412 includes hardware, software, or both that couple the components of the computer system 400 together. By way of example and not limitation, bus 412 may be an accelerated graphics port (AGP) or other graphics bus, an extended industry standard architecture (EISA) bus, a front side bus (FSB), a HYPERTRANSPORT (HT) interconnect, Restandard architecture (ISA) bus, INFINIBAND interconnect, low pin count (LPC) bus, memory bus, microchannel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI express (PCI) bus, serial advanced technology attachment (SATA) bus, Video Electronics Standards Association Local Bus (VLB), or another suitable bus, or any of these Chino can include two or more combinations. Bus 412 may include one or more buses 412 as desired. Although this disclosure describes and illustrates a particular bus, any suitable bus or interconnect is contemplated.

  The components of the computer system 400 can be integrated or separated. In some embodiments, the components of computer system 400 may each be housed in a single chassis. The operation of computer system 400 may be performed by more components, fewer components, or other components. Also, the operations of computer system 400 may be performed using any suitable logic that may include software, hardware, other logic, or any suitable combination thereof.

  One or more non-transitory computer readable storage media herein may include one or more, if desired, such as a field programmable gate array (FPGA) or application specific integrated circuit (ASIC). Semiconductor-based or other integrated circuit (IC), hard disk drive (HDD), hybrid hard drive (HHD), optical disk, optical disk drive (ODD), magneto-optical disk, magneto-optical drive, floppy diskette, floppy disk drive (FDD) , Magnetic tape, solid state drive (SSD), RAM drive, secure digital card or drive, any other suitable computer readable non-transitory storage medium, or any suitable combination of two or more of these Include Door can be. If desired, the non-transitory computer readable storage medium can be volatile, non-volatile, or a combination of volatile and non-volatile.

  As used herein, “or” is inclusive and not exclusive unless explicitly stated otherwise or contextually. Accordingly, “A or B” in this specification means A, B, or both, unless expressly indicated otherwise or contextually. Further, “and” is solid and individual unless specifically indicated otherwise or contextually. Accordingly, “A and B” in this specification means “jointly and individually A and B” unless explicitly indicated otherwise or contextually.

  The scope of the present disclosure includes all changes, substitutions, variations, alterations and modifications that would be understood by one skilled in the art to the example embodiments described or illustrated herein. The present disclosure is not limited to the example embodiments described or illustrated herein. Further, although each embodiment herein has been described and illustrated as including specific components, elements, functions, operations or steps, each of these embodiments is described herein. Any combination or substitution of components, elements, functions, operations or steps described or illustrated everywhere understood by those skilled in the art may be included. Further, in the appended claims, adapted to perform specific functions, arranged to, and capable of being configured. Reference to a device, system, or apparatus or component of a device that is configured to, enabled to, or operates to do As long as it can be adapted, configured, performed, configured, performed, or operated, turn on whether these devices, systems or components, or certain functions thereof, operate. Whether or not they are unlocked or not Device includes a system or component.

Claims (20)

A system comprising a device and one or more processors,
The device is
A lens having an etching pattern;
A light emitting diode (LED) configured to project a light pattern onto a surface according to the etching pattern of the lens by transmitting light to the lens, the projected light pattern including a dot pattern A projector,
A first camera configured to obtain first data including first pixel data associated with each dot of the projected light pattern;
A second camera configured to obtain second data including second pixel data associated with each dot of the projected light pattern;
The one or more processors are
Using the first pixel data and the second pixel data, the position of each dot of the projected light pattern is specified,
Measuring the profile of the surface based on the relative position of the dots;
Configured as a system.   The system of claim 1, wherein the device is a motion independent handheld high resolution scanner. The first camera and the second camera are mapped to the same field of view;
The projected pattern includes a dot pattern of 100,000 dots or less within a maximum field of view of 4 inches x 4 inches (10.16 cm x 10.16 cm);
The system of claim 1, wherein the measured surface profile has an accuracy of 0.001 inch or less. The one or more processors are
Based on the first pixel data, find the center of gravity of each dot of the projected light pattern,
Based on the second pixel data, find the center of gravity of each dot of the projected light pattern,
Based on a known constant relationship between the first camera and the second camera, triangulation of the determined center of gravity associated with each dot allows each dot of the projected light pattern to be Locate,
The system of claim 1, further configured as follows. The LED projector is further configured to continuously project the light pattern onto the surface;
The first camera is pulsed to obtain first data associated with a continuously projected light pattern, and the second camera is second associated with a continuously projected light pattern. The system of claim 1, wherein the system is pulsed to acquire data. The first camera is pulsed to obtain first data associated with the projected light pattern;
The second camera is pulsed to obtain second data associated with the projected light pattern;
The LED projector is configured to project the light pattern onto the surface by pulsing light in synchronization with the pulses of the first camera and the second camera. Item 4. The system according to Item 1. The one or more processors are further configured to automatically detect a desired field of view;
The system of claim 1, wherein the first camera is further configured to acquire the first data in response to automatic detection of the desired field of view.   The system of claim 1, wherein the one or more processors are further configured to form a polygonal model of the surface based on the relative positions of the dots. A lens having an etching pattern;
A light emitting diode (LED) projector configured to project a pattern of light on the surface according to the etching pattern of the lens by transmitting light to the lens;
A first camera configured to obtain first data associated with the projected light pattern;
A second camera configured to acquire second data related to the projected light pattern, the first data acquired by the first camera, and the second data An apparatus for measuring a profile of the surface using second data acquired by a camera.   The apparatus of claim 9, wherein the apparatus is a motion independent handheld high resolution scanner. The first camera and the second camera are mapped to the same field of view;
The projected light pattern includes a dot pattern of 100,000 dots or less within a maximum field of view of 4 inches × 4 inches (10.16 cm × 10.16 cm);
The first data includes first pixel data associated with each dot of the projected light pattern;
The apparatus of claim 9, wherein the second data includes second pixel data associated with each dot of the projected light pattern.   The apparatus of claim 9, wherein the measured surface profile has an accuracy of 0.001 inch or less. The LED projector is further configured to continuously project the light pattern onto the surface;
The first camera is pulsed to obtain first data associated with a continuously projected light pattern, and the second camera is second associated with a continuously projected light pattern. The apparatus of claim 9, wherein the apparatus is pulsed to acquire data. The first camera is pulsed to obtain first data associated with the projected light pattern;
The second camera is pulsed to obtain second data associated with the projected light pattern;
The LED projector is configured to project the light pattern onto the surface by pulsing light in synchronization with the pulses of the first camera and the second camera. Item 10. The apparatus according to Item 9. The one or more processors are further configured to automatically detect a desired field of view;
The apparatus of claim 9, wherein the first camera is further configured to acquire the first data in response to automatic detection of the desired field of view. Projecting a light pattern on the surface according to an etching pattern of the lens by transmitting light through the lens with a light emitting diode (LED) projector;
Obtaining, by a first camera, first data relating to the projected light pattern;
Obtaining, by a second camera, second data relating to the projected light pattern;
Measuring the surface profile with one or more processors using first data acquired by the first camera and second data acquired by the second camera; Including a method. The first camera and the second camera are mapped to the same field of view;
The projected light pattern includes a dot pattern of 100,000 dots or less within a maximum field of view of 4 inches × 4 inches (10.16 cm × 10.16 cm);
The first data includes first pixel data associated with each dot of the projected light pattern;
The method of claim 16, wherein the second data includes second pixel data associated with each dot of the projected light pattern. Identifying the position of each dot of the dot pattern using the first pixel data and the second pixel data by the one or more processors;
18. The method of claim 17, further comprising measuring the surface profile by the one or more processors based on the relative position of the dots.   The method of claim 16, wherein the measured surface profile has an accuracy of 0.001 inches or less.   The first camera is pulsed to obtain first data associated with a continuously projected light pattern, and the second camera is second associated with a continuously projected light pattern. The method of claim 16, further comprising continuously projecting the pattern of light onto the surface while being pulsed to acquire data.

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